Crash's main repository.
All you need to get Crash running is described in the next few sections.
Note: If you want to use HTTPS instead of SSH, replace git@github.com: with https://github.com/ in the file .gitmodules and in the following line:
$ git clone git@github.com:crashracing/crt
$ cd crt
This populates the ./crt-* directories.
$ git submodule init
$ git submodule update --remote
The directory ./debug-server is not shipped in this release as it is not open-sourced yet.
It contains the TURAG Debug Server which is not needed to run the ROS components.
This sets up a VM for development, which includes everything you need like ROS and the Arduino toolchain.
Note: Change the vb.memory variable in Vagrantfile if you have less than 4 GB free RAM.
$ sudo apt install vagrant virtualbox
$ vagrant up
Continue in the development section.
$ vagrant halt
$ wget https://ubuntu-mate.org/raspberry-pi/ubuntu-mate-16.04.2-desktop-armhf-raspberry-pi.img.xz
$ echo "dc3afcad68a5de3ba683dc30d2093a3b5b3cd6b2c16c0b5de8d50fede78f75c2 ubuntu-mate-16.04.2-desktop-armhf-raspberry-pi.img.xz" > sha256sum.txt
$ sha256sum -c sha256sum.txt
Make sure the last line returns "OK".
Then copy to SD card (where sdX is the device name of your SD card).
$ xz -dc ubuntu-mate-16.04.2-desktop-armhf-raspberry-pi.img.xz | sudo dd of=/dev/sdX
- configure timezone, keymap, user to your liking
- in a terminal, do:
$ sudo systemctl enable ssh
$ sudo systemctl start ssh
Configure SSH for pubkey authentication. A suggestion:
# ~/.ssh/config
Host raspi_root
HostName 192.168...
User root
PreferredAuthentications publickey,keyboard-interactive,password
PubkeyAuthentication yes
Then copy your SSH key to the raspberry:
% ssh-copy-id raspi_root
If this fails due to missing SSH key, generate it:
% ssh-keygen -t ecdsa -b 521
Finally, check that login using SSH works without password:
% ssh raspi_root
Install Ansible on your host machine:
% apt-get update && apt-get install ansible
Then start the Ansible playbook on your host machine which connects to the raspberry via SSH and configures everything:
% ansible-playbook -i provisioning/hosts_pi provisioning/install-pi.yml
When the last step fails see the next section.
The Ansible playbook creates the directory /vagrant to keep file paths consistent with our Vagrant VM.
When using Vagrant for setup this directory automatically contains the CRT git repository. For installation on the Raspberry Pi you need to clone it manually:
% ssh raspi
% cd /vagrant
% git clone git@github.com:crashracing/crt
% cd crt
% git submodule init
% git submodule update --remote
Just run the Ansible playbook (again) as in the ROS installation section.
The Arduino Nano's hardware UART (pins RXD/PD0, TXD/PD1) is connected to the Raspberry Pi 3 UART0 (GPIO14, 15).
- disable serial kernel log: remove
console=serial0,115200from/boot/cmdline.txt - disable Bluetooth: run
sudo systemctl disable hciuart - add the following to
/boot/config.txt:
enable_uart=1
dtoverlay=pi3-disable-bt
After a reboot you should be able to open the serial port (/dev/serial0 should link to /dev/ttyAMA0):
picocom /dev/serial0 -b 115200 -l
Enter the VM and go to this directory. It is available as a shared folder under /vagrant, so the file you're reading right now would be located at /vagrant/README.md.
$ vagrant ssh
# -> You're now inside the VM.
$ cd /vagrant/crt-ros
Compile the CRT ROS packages:
$ catkin_make
See further instructions in ./crt-ros/README.md.
Develop stuff. Commit and push in the subdirectories.
Example (if you added something in crt-ros):
$ cd crt-ros
$ git commit -am 'developed stuff'
$ git push
On Crash:
$ cd /vagrant/crt/crt-ros
$ roslaunch crt_launch all_robot.launch
On PC (maybe in different terminals):
$ roslaunch crt_launch all_pc.launch
$ roslaunch crt_launch viz.launch
provisioning/roles/ansible-role-keyboardsource: https://github.com/gantsign/ansible-role-keyboard (MIT)provisioning/roles/ansible-role-rossource: https://github.com/jalessio/ansible-role-ros (MIT/BSD)